WO2023051486A1 - 一种车载摄像系统 - Google Patents

一种车载摄像系统 Download PDF

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Publication number
WO2023051486A1
WO2023051486A1 PCT/CN2022/121534 CN2022121534W WO2023051486A1 WO 2023051486 A1 WO2023051486 A1 WO 2023051486A1 CN 2022121534 W CN2022121534 W CN 2022121534W WO 2023051486 A1 WO2023051486 A1 WO 2023051486A1
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WIPO (PCT)
Prior art keywords
vehicle
camera lens
plane
camera system
lens
Prior art date
Application number
PCT/CN2022/121534
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English (en)
French (fr)
Inventor
付兵凯
Original Assignee
上海凯姆视觉科技有限公司
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Application filed by 上海凯姆视觉科技有限公司 filed Critical 上海凯姆视觉科技有限公司
Priority to KR1020247012776A priority Critical patent/KR20240065280A/ko
Publication of WO2023051486A1 publication Critical patent/WO2023051486A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/06—Rear-view mirror arrangements mounted on vehicle exterior
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • the present application relates to the field of optoelectronics, and in particular to a camera system installed in a vehicle to assist a driver in driving.
  • the rearview mirror is a tool for the driver to directly obtain external information such as the rear, side and bottom of the car while sitting in the cab seat.
  • Traditional rearview mirrors are based on optical principles, and the purpose of expanding the field of view of the rearview mirror as much as possible is achieved through the curvature design of the rearview mirror.
  • optical-based camera equipment has a certain depth of field and perspective angle. Therefore, in the scenes captured by the camera equipment, only the part within the depth of field is clear, while the scenes in other distance ranges are blurred. .
  • the installation position will bring changes in the perspective of the image, which will affect the driver's observation and judgment, and even cause the driver to misjudge and affect driving safety.
  • the present invention adopts the angle and/or parallel offset formed between the optical axis of the rear focal plane of the lens and the sensor surface, and forms a certain inclined angle offset to solve the problems of image definition offset, perspective, distortion and the like.
  • the present application hopes to provide a high-definition vehicle-mounted camera system with a large depth of field, a large clear range, and a perspective angle that can clearly capture the target area behind the side of the vehicle, which is more in line with human visual observation.
  • the familiar real-time scene provides the driver with a better field of vision, which is more conducive to the driver to make accurate judgments.
  • the present application provides a vehicle-mounted camera system for installation on a target vehicle
  • the vehicle-mounted camera system includes an image acquisition unit and a camera lens
  • the vehicle-mounted camera system is installed on the side of the target vehicle
  • the image There is a preset angle between the plane where the acquisition unit is located and the main plane of the camera lens, so that the plane where the image acquisition unit is located intersects the main plane of the camera lens at a preset distance h from the side of the vehicle body, so
  • the camera lens is focused on the rear of the side of the target vehicle, and the horizontal distance between its object focus F and the plane where the side of the target vehicle is located is the preset distance or close to the preset distance h.
  • the clear focal plane of the camera lens is located at a predetermined distance h from the side of the vehicle body and is roughly parallel to the vehicle body according to Sham's law.
  • the preset distance h satisfies the following formula: Wherein, h1 represents when described photographing lens is installed on the vehicle, and the center of described photographing lens protrudes relative to target vehicle body side part, and h2 represents the principal distance between the plane where described image acquisition unit is located and described photographing lens The distance between the intersection line between the planes and the center of the camera lens, f represents the focal length of the camera lens.
  • the longitudinal distance L between the object focus F of the camera lens and the intersection line between the plane where the image acquisition unit is located and the main plane of the camera lens satisfies the following formula:
  • the plane where the image acquisition unit is located and/or the main plane of the camera lens is deflected to the left or to the right with respect to the main axis of the vehicle-mounted camera system.
  • a perpendicular line is drawn from the center of the camera lens to the intersection line of the plane where the image acquisition unit is located and the main plane of the camera lens, and the height of the intersection point of the perpendicular line and the intersection line is equal to or lower than
  • the height of the center of the camera lens, the height of the object focus of the camera lens at the side of the target vehicle is equal to or lower than the height of the intersection of the vertical line and the intersection line.
  • the center of the image acquisition unit and/or the axis of the camera lens are laterally shifted relative to the center of the vehicle camera system, and the translation distance is based on the plane where the image acquisition unit is located and/or the The image motion caused by the angle between the main planes of the camera lens is determined.
  • the vehicle-mounted camera system further includes a housing, the image acquisition unit is installed on the rear side of the housing, and the camera lens is installed in front of the image acquisition unit.
  • a first installation position for installing the camera lens and a second installation position for installing the image acquisition unit are provided in the housing, the first installation position and the second installation position, At least one of the first installation position and the second installation position is offset relative to the main axis of the vehicle-mounted camera system, so that after the camera lens and the image acquisition unit are fixed at the corresponding positions, a predetermined angle Deflection and/or translation of a predetermined distance.
  • the preset included angle is between 0.1-10 degrees.
  • the predetermined included angle can be positive or negative, that is, the direction of the included angle is not limited here.
  • the preset included angle is 1 degree, 2 degrees, 3 degrees, 5 degrees or 7 degrees.
  • the vehicle-mounted camera system includes multiple sets of imaging structures composed of image acquisition units, camera lenses and housings, which are respectively installed on both sides of the vehicle.
  • the vehicle-mounted camera system of the present application may include two sets of sensors, camera lenses and housings for fixing them, which are installed on both sides of the vehicle respectively.
  • the "angular deflection" in the vehicle-mounted camera system of this application refers to the installation axis of the camera lens and sensor relative to the camera system housing, but its core is to realize the relative angle between the two, through the angle, focus
  • the setting of the position that is, the focal point F of the object space
  • the "positional translation" in the vehicle-mounted camera system of the present application refers to the camera lens center and the sensor center relative to the installation axis of the camera system housing, but its core purpose is also to realize the relative distance between the camera lens center and the sensor center. position offset.
  • the data can also be calculated in advance according to the vehicle type, camera installation height, field of view required by regulations, and collection range required by the design plan, and the field of view can be adjusted through the translation of the sensor.
  • the camera system of the present application can provide a clearer image of the side and rear of the vehicle in a wider range, and the camera system of the present application is different from the shifting design of the traditional camera.
  • Shaft adjustment device there is no operation to adjust the relationship and angle of the shifting shaft during use.
  • the deflection angle between the image acquisition unit and the lens of this application is determined in advance, and then solidified by machining the housing or the installation position. It is precisely because there is no post-adjustment angle that there will be no problems such as deflection and accuracy drop due to vehicle vibration. . Therefore, the camera system of the present application is simpler and more convenient to use. It only needs to select a corresponding model according to the vehicle type for installation, and then a clear camera image required by the corresponding vehicle type can be obtained.
  • the field of view of most lenses in traditional camera shifting is larger than the photosensitive area of the sensor, so that the sensor can obtain better image quality during movement.
  • this application is designed based on data in the early stage and then used as fixed manufacturing data. Excellent product performance to obtain the best image quality and effectively reduce material costs.
  • This application successfully introduces the principle of axis-shifting camera into the field of vehicle-mounted camera. It does not require the user to adjust the direction and angle of translation or deflection according to the needs of the target scene when using it, nor does it require the user to have a good photography foundation and rich experience. photography experience.
  • Fig. 1 is the structure diagram of common camera
  • FIG. 2 is a schematic structural view of the camera of the vehicle-mounted camera system in Embodiment 1 of the present application;
  • Fig. 3 is a schematic projection diagram of the positional relationship of each part on the horizontal plane when the camera system in Embodiment 1 is installed on the side of the vehicle;
  • Fig. 4 is a simplified enlarged structural schematic diagram of a camera structure in Embodiment 1;
  • FIG. 5 is a schematic structural view of the camera of the vehicle-mounted camera system in Embodiment 2 of the present application.
  • Fig. 6 is a simplified enlarged structural schematic diagram of a camera structure in Embodiment 2 of the present application.
  • FIG. 7 is a schematic structural view of the camera of the vehicle-mounted camera system in Embodiment 3 of the present application.
  • Fig. 8 is a simplified enlarged schematic diagram of a camera structure in Embodiment 3 of the present application.
  • Fig. 1 shows the schematic structural view of common camera
  • camera lens 10 is installed on the front housing 30 of camera system
  • sensor 20 is installed on the mounting base behind camera lens 10
  • camera lens 10 and image acquisition unit are coaxially arranged, two are parallel to the principal plane.
  • the image acquisition unit adopts the image sensor 20 .
  • the deflection setting method of the camera lens deflecting to the left ( FIG. 2A ) or the camera lens to the right ( FIG. 2B ) is adopted.
  • the camera lens 10 is installed on the front housing 30 of the camera system, and the image sensor 20 is installed on the mounting base behind the 10 camera lens 10.
  • the main plane of the camera lens 10 in this embodiment (with The plane perpendicular to the main axis) is deflected relative to the main axis of the camera, relative to the main plane of the sensor 20 .
  • Figure A in Fig. 2 is the use situation of the left deflection of the camera lens, wherein the main axis of the camera lens 10 is deflected to the left with respect to the normal direction of the plane where the sensor 20 is located (that is, the main axis direction of the camera system), and the deflection angle is a °,
  • the main plane where the camera lens 10 is located and the plane where the sensor is located form an included angle of ⁇ °
  • Figure B in Figure 2 is the use of the camera lens deflection to the right, wherein the main axis of the camera lens 10 is relative to the normal direction of the plane where the sensor is located Deflection to the right, the deflection angle is ⁇ °.
  • FIG. 3 shows a schematic diagram of the positional relationship when the structure in Embodiment 1 (variation shown in FIG. 2A ) is reversely installed (the lens of the camera system faces the rear of the vehicle body) to the side of the vehicle body.
  • Fig. 4 shows a simplified enlarged schematic diagram of the camera system of this embodiment.
  • the vehicle-mounted camera system is installed on the right side of the target vehicle, and there is a preset angle ⁇ between the plane S1 where the image sensor 20 is located and the main plane S2 of the camera lens 10, in other words, the camera The normal direction N1 of the lens 10 is deflected relative to the normal direction N2 of the image sensor, and the main axis of the camera coincides with the normal direction N2 of the image sensor, so that the distance between the normal direction N1 of the camera lens 10 and the main axis of the camera
  • There is a preset angle ⁇ so that the extension line of the plane S 1 where the image sensor 20 is located and the main plane S 2 of the camera lens 10 intersects at the preset distance h at the side of the vehicle body, and the point of intersection (actually the line of intersection) is as shown in the figure M 1
  • the image sensor 20 is normally installed in the camera, and the normal direction of the image sensor 20 coincides with the main axis of the camera, both of which
  • the centers of the image sensor 20 and the imaging lens 10 are denoted by O1 and O2 respectively.
  • the preset distance h satisfies the following formula: Wherein, as shown in FIG. 3, h1 represents when the imaging lens 10 is installed on the vehicle, the center of the imaging lens 10 protrudes relative to the body side (carriage wall) of the target vehicle, and h2 represents the plane S where the image sensor 20 is located. 1 and the main plane S2 of the imaging lens 10, the distance between 1 and the center of the imaging lens 10, f represents the focal length of the imaging lens, that is, the distance from the focal point F to the center of the imaging lens, and ⁇ represents the The preset included angle between the plane where the image sensor is located and the main plane of the camera lens.
  • the focus position of the camera lens 10 is adjusted so that the camera lens 10 is focused behind the side of the target vehicle, and the horizontal distance between the focus and the plane where the side of the vehicle body of the target vehicle is located is the preset distance or close to the preset distance h.
  • the longitudinal distance L between the object focus F of the imaging lens 10 and the intersection line between the plane where the image sensor is located and the main plane of the imaging lens 10 satisfies the following formula:
  • the focus position of the imaging lens 10 is located on a parallel line parallel to the side of the vehicle body and at a horizontal distance h from the side of the vehicle body, on the plane where the main axis of the imaging lens 10 is located, the focal point F of the imaging lens 10 and the The connection line between the intersection line M1 between the plane S2 where the camera lens is located and the plane S1 where the image sensor is located is parallel to the side of the vehicle body.
  • the direction of L in the figure can provide a clearer image of the rear of the vehicle body. What is mainly discussed here is the horizontal orientation of the camera lens 10 .
  • the pitch angle of the camera lens 10 can be adjusted by those skilled in the art according to the height of the vehicle body.
  • the values of L and h can be determined, and then the deflection angle and the focal length of the camera lens can be set.
  • the installation positions of the image sensor and camera lens are directly processed and adjusted in the front shell, so that after the camera lens and image sensor are installed at their installation positions, the required deflection angle can be formed, thereby preventing the camera system from being damaged during use. Due to vibration and other factors, the quality of shooting has deteriorated, and the field of view that can be clearly shot is expanded.
  • the deflection angle of the camera lens 10 or the image sensor 20 is between 0.1°-15°, for example, 0.3°, 1°, 3°, 5°, 7°, 9° or 10°.
  • FIG. 3 shows the arrangement of the rearview mirror on the right side.
  • the rearview mirror on the other side can be arranged and adjusted in a manner symmetrical to the axis of this side.
  • the description is made by taking the plane S 1 where the image sensor 20 is located and the main plane S 2 of the camera lens 10 are compared with the side of the vehicle body and the intersection line is generally along the vertical direction as an example. That is, in this case, the main plane of the image sensor 20 and the imaging lens 10 only deviates in the horizontal direction to form an included angle.
  • intersection line of the two is shifted downward, that is, the intersection line of the two is not a vertical direction, but an oblique direction.
  • the clear focal plane of the camera lens is located at a predetermined distance from the side of the vehicle body and is generally parallel to the side of the vehicle body but slightly inclined downward.
  • FIG. 5 The arrangement of the sensor and camera lens in the camera in this embodiment is shown in FIG. 5 .
  • the solution of sensor deflection is adopted.
  • Figure A in the figure is the use of the left deflection of the sensor, the normal direction of the sensor is deflected to the left relative to the main axis of the camera lens, and the deflection angle is ⁇ °;
  • Figure B in Figure 5 is the use of the right deflection of the sensor In this case, the normal direction of the sensor is deflected to the right relative to the main axis of the camera lens, and the deflection angle is ⁇ °.
  • FIG. 6 shows the camera in FIG. 5B—a simplified enlarged schematic diagram of the camera with the sensor deflected to the right.
  • the angle of the camera in this figure is the same as that of Embodiment 1, which is installed on the right side of the vehicle and shoots backwards.
  • the preset angle ⁇ between the plane S1 where the image sensor is located and the main plane S2 of the camera lens, in other words, the normal direction N1 of the image sensor 20 is relative to the normal direction N of the camera lens 10 2 has deflected, and the camera lens 10 is normally installed in the camera (the normal direction of the camera lens 10 coincides with the main axis of the camera, N2 direction in the figure), so there is a distance between the normal direction N1 of the image sensor 20 and the main axis of the camera
  • the included angle ⁇ is preset, so that the extension line of the plane S 1 where the image sensor is located and the main plane S 2 of the camera lens intersects at a preset distance h from the side of the vehicle body, and the intersection point (actually the intersection line) is M 1 in the figure.
  • the preset included angle ⁇ ranges from 0.1 to 10 degrees, and the included angle and the preset distance h can be determined according to the vehicle model, the focal length of the lens of the on-board camera system,
  • the setting of the deflection angle is determined based on the target shooting plane.
  • the setting of the deflection angle can make the plane where the image sensor is located, the main plane of the camera lens and the main plane of the target shooting area intersect on a straight line, or approximately intersect on a straight line. It should be noted that it is not that the larger the range of the target area that can be photographed, the better, but that the required maximum clear field of view can be met according to the needs of the vehicle.
  • the camera system in this embodiment When the camera system in this embodiment is installed on the vehicle, its installation method is similar to that of Embodiment 1, and it only needs to satisfy Sham's law so that the clear focal plane of the camera lens is generally located at the side of the vehicle body and is generally parallel to the vehicle body.
  • FIG. 7 a combination of camera lens and sensor deflection and sensor translation is adopted, as shown in FIG. 7 .
  • Figure A in Figure 7 shows the use of the left deflection (angle) of the camera lens + the right deflection (angle) of the sensor + the left translation (position) of the sensor, wherein the main axis of the camera lens deflects to the left relative to the main axis direction of the camera, and the deflection angle is ⁇ °, the normal direction of the sensor is deflected to the right relative to the axis of the camera, and the deflection angle is ⁇ °, and the sensor is translated to the left.
  • the relative deflection angle between the sensor and the lens can be further expanded.
  • Figure B in Figure 7 shows the use of camera lens deflection right + sensor left deflection + sensor right translation, where the main axis of the camera lens is deflected to the right relative to the main axis direction of the camera, the deflection angle is ⁇ °, and the normal direction of the sensor is opposite to Deflect to the left in the direction of the main axis of the camera, the deflection angle is ⁇ °, and the sensor is translated to the right, and the translation distance is H.
  • FIG. 8 is a simplified enlarged schematic diagram of the camera system shown in FIG. 7A , and its viewing angle is the viewing angle after it is installed on a vehicle.
  • the camera lens is deflected by ⁇ ° to the left
  • the image sensor 20 is deflected by ⁇ degrees to the right, and the angle formed by the two is ⁇ + ⁇ .
  • the image sensor 20 is translated as a whole, and the vertical distance of the translation is H.
  • the center O 1 of the image sensor 20 is followed by a lateral translation, which is offset to O' 1 .
  • the translation distance of the sensor can be changed according to the change of the imaging position caused by the deflection angle of the sensor and camera.
  • the direction of sensor translation is consistent with the change direction of the imaging position (relative to the non-deflection case) due to the angular deflection of the camera lens and sensor, that is, when the imaging position due to the angular deflection of the camera lens and sensor is to the left
  • When moving set the sensor to translate approximately the same distance H to the left; when the imaging position moves to the right due to the angular deflection of the camera lens and sensor, set the sensor to translate approximately the same distance H to the right.
  • the left and right offset of the sensor only affects the received field of view, therefore, those skilled in the art only need to adjust according to the desired field of view. Its setting method in the camera system is similar to Embodiment 1, and will not be repeated here.
  • Figure A in Figure 9 shows the situation where the camera lens deflects to the left and translates to the left
  • Figure B It shows the case where the camera lens deflects to the right and translates to the right
  • the A diagram in Figure 10 shows the situation where the sensor deflects to the left and translates to the left
  • the diagram B shows the situation where the sensor deflects to the right and translates to the right
  • the two structural variants in FIGS. 9-10 can also achieve similar photographing effects to the camera system in Embodiments 1-3, and improve the shooting clarity of the target camera area.

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Abstract

本申请公开了一种车载摄像系统，用于安装到目标车辆，所述车载摄像系统包括图像采集单元和摄像镜头，所述图像采集单元所在平面与所述摄像镜头的主平面之间具有预定夹角，以使得图像采集单元所在平面与摄像镜头的主平面相交于车身侧部的预设距离h处，并且摄像镜头聚焦于所述目标车辆侧部后方，其物方焦点F与所述目标车辆的车身侧部所在平面的水平距离为所述预设距离或接近所述预设距离h。本申请预先设定图像采集单元和摄像镜头二者之间的角度偏转，并将这种偏转通过壳体安装位置的加工，固化在相机中，进而能够清晰地拍摄出车辆侧部更大景深范围内的场景，为驾驶员提供更好的视野范围，更有利于驾驶员做出准确的判断。

Description

一种车载摄像系统
相关申请
本申请主张于2021年9月28日提交的、名称为“一种车载摄像系统”的中国专利申请：202122360709.0的优先权。
技术领域
本申请涉及光电领域，具体涉及用于安装到车辆对驾驶员进行辅助驾驶的摄像系统。
背景技术
后视镜是驾驶员坐在驾驶室座位上直接获取汽车后方、侧方和下方等外部信息的工具。传统的后视镜均是基于光学原理，通过后视镜的曲率设计达到尽可能地扩大后视镜视野的目的。
随着电子摄像技术的发展，越来越多的车辆后视镜中添加了辅助摄像设备，通过后置或者其他摄像头将摄像头所拍摄到的场景通过屏幕显示给驾驶员，以便提升驾驶员所观察到的视野范围以及视野的清晰度。
但是，基于光学的摄像设备都具有一定的景深范围和透视角度，因此，摄像设备所能拍摄到的场景中，只有景深范围内的部分是清晰的，而其他距离范围内的场景则是模糊的。而安装位置又会带来图像透视的变化这些都会影响驾驶员的观察和判断，甚至导致驾驶员产生误判而影响驾驶安全。
传统摄像镜头不可避免会出现中心画质优异，边缘画质相对较差的情况。目前常用车载摄像机中，镜头轴心与传感器中心是吻合的，以保证最优画质在画面中心区域。而电子后视镜摄像机使用方式与传统图像有差异，画面需要随车辆行驶姿态上下、左右移动，画面清晰部位不是在图像最中心部位，需要偏移清晰部位，来满足一般场景与临时场景画面的兼顾。若镜头设计时偏移清晰度中心，则成本高昂、生产良率、成本不可控。
本发明采用镜头后焦平面光轴与传感器表面形成夹角和/或平行偏移、形成一定倾斜夹角偏移来解决画面清晰度偏移、透视、畸变等问题。
发明内容
针对上述问题，本申请希望提供一种具有大景深、清晰范围大、解决透视角度的高清晰度的车载摄像系统，其能够清晰地拍摄出车辆侧部后方目标区域内、更符合人眼视觉观察习惯的实时场景，进而为驾驶员提供更好的视野范围，更有利于驾驶员做出准确的判断。
具体而言，本申请提供一种车载摄像系统，用于安装到目标车辆，所述车载摄像系统包括图像采集单元和摄像镜头，所述车载摄像系统安装于所述目标车辆侧部，所述图像采集单元所在平面与所述摄像镜头的主平面之间具有预设夹角，以使得所述图像采集单元所在平面与所述摄像镜头的主平面相交于车身侧部的预设距离h处，所述摄像镜头聚焦于所述目标车辆侧部后方，并且其物方焦点F与所述目标车辆的车身侧部所在平面的水平距离为所述预设距离或接近所述预设距离h。通过这种夹角和物方焦点的设定使得根据沙姆定律摄像镜头的清晰焦平面位于车身侧部预定距离h处并与车身大体平行。
优选地，所述预设距离h满足下述公式：
Figure PCTCN2022121534-appb-000001
其中，h 1表示所述摄像镜头安装在车辆上时，所述摄像镜头的中心相对于目标车辆车身侧部的伸出距离，h 2表示所述图像采集单元所在平面与所述摄像镜头的主平面之间的交线与所述摄像镜头的中心之间的距离，f表示所述摄像镜头的焦距。
优选地，所述摄像镜头的物方焦点F与所述图像采集单元所在平面同所述摄像镜头的主平面的交线之间的纵向距离L满足下述公式：
Figure PCTCN2022121534-appb-000002
优选地，所述图像采集单元所在平面和/或所述摄像镜头的主平面相对于所述车载摄像系统的主轴发生向左或向右的角度偏转。
优选地，从所述摄像镜头的中心向所述图像采集单元所在平面与所述摄像镜头的主平面的相交线作垂线，所述垂线与所述相交线的交点的高度等于或低于所述摄像镜头中心的高度，所述摄像镜头的物方焦点在所述目标车辆侧部的高度等于或低于所述垂线与所述相交线的交点高度。
优选地，所述图像采集单元的中心和/或所述摄像镜头的轴心相对于所述车载摄像系统的中心在发生侧向平移，平移距离基于所述图像采集单元所在平面和/或所述摄像镜头的主平面之间的夹角引起的像移而确定。
优选地，所述车载摄像系统还包括壳体，所述图像采集单元安装在所述壳体后侧，所述摄像镜头安装在所述图像采集单元前方。
进一步优选地，所述壳体内设置有用于安装所述摄像镜头的第一安装位和用于安装所述图像采集单元的第二安装位，所述第一安装位和所述第二安装位，所述第一安装位和所述第二安装位中的至少一个相对于车载摄像系统的主轴偏置设置，以使得所述摄像镜头和所述图像采集单元固定在相应位置后，发生预定角度的偏转和/或预定距离的平移。
优选地，所述预设夹角在0.1-10度之间。该预定夹角可以为正也可以为负，即这里并不限定夹角的方向。
优选地，所述预设夹角为1度、2度、3度、5度或者7度。
优选地，所述车载摄像系统包括多套由图像采集单元、摄像镜头和壳体组成的成像结构，分别安装在车辆两侧。
本申请的车载摄像系统可以包括两套传感器和摄像镜头以及用于固定二者的壳体，分别安装在车辆的两侧。
本申请的车载摄像系统中的“角度偏转”是摄像镜头和传感器相对于摄像系统壳体的安装主轴而言的，但是其核心是要实现二者之间的相对夹角，通过夹角、聚焦位置的设定(也即物方焦点F)使得成像镜头的清晰焦平面位于侧身侧部并且与车身侧部大体平行，摄像镜头的焦平面与图像采集单元和摄像镜头所在平面之间大体满足沙姆定律。本申请的车载摄像系统中的“位置平移”也是摄像镜头中心和传感器中心相对于摄像系统壳体的安装主轴而言的，但是，其核心目的也是要实现摄像镜头中心和传感器中心之间的相对位置偏移。本申请的方案使用中也可以按照车型、摄像机安装高度、法规要求的视野范围、设计方案需要的采集范围，提前把数据计算出来，视场范围通过传感器的平移调整。
有益效果
本申请的摄像系统可以在更大范围内提供更清晰的车辆侧部后方的图像，并且， 本申请的摄像系统不同于传统照相机的移轴设计，其没有软连接的皮腔、没有复杂的移轴调节装置、不存在使用中调节移轴关系、角度的操作。本申请的图像采集单元与镜头的偏转角度是提前确定，然后通过对壳体或安装位置的机械加工进行固化，正是因为没有后期调整角度所以不会因为车辆行驶震动产生偏转、精度下降等问题。因此，本申请的摄像系统使用起来更加简单方便，只需要根据车型选择对应型号进行安装，即可以获得对应车型所需的、清晰的摄像影像。
此外，传统的相机移轴大多镜头的视场角大于传感器的感光面积，传感器才可以在移动中获得更优的图像质量，而本申请是前期基于数据设计出来后就作为固定制造数据，在有限的产品性能获得最优图像质量，有效降低物料成本。
本申请将移轴摄像原理成功引入到车载摄像领域，其不需要使用者在使用时根据目标场景的需要，来调整平移或偏转的方向和角度，也不需要使用者具有良好的摄影基础和丰富的摄影经验。
附图说明
图1为普通相机的结构示意图；
图2为本申请实施例1中的车载摄像系统的相机结构示意图；
图3为实施例1中的摄像系统安装在车辆侧部时，各部分的位置关系在水平面的投影示意图；
图4为实施例1中一种相机结构的简化放大结构示意图；
图5为本申请实施例2中的车载摄像系统的相机结构示意图；
图6为本申请实施例2中一种相机结构的简化放大结构示意图；
图7为本申请实施例3中的车载摄像系统的相机结构示意图；
图8为本申请实施例3中一种相机结构的简化放大结构示意图；
图9-图10分别示出了本申请实施例的另外两种不同变体的相机结构示意图。
具体实施方式
下面结合实施例及附图对本申请作进一步详细的描述，但本申请的实施方式不限于此。
图1所示为普通相机的结构示意图，摄像镜头10安装在摄像系统的前壳30上， 传感器20安装在摄像镜头10后方的安装基座上，摄像镜头10和图像采集单元同轴设置，二者所处主平面平行。下述实施例中，图像采集单元均采用图像传感器20。
实施例1
相比之下，如图2所示，本实施例中采用摄像镜头左偏转(图2A)或者摄像镜头右偏转(图2B)的偏转设置方式。与普通相机类似，摄像镜头10安装在摄像系统的前壳30上，图像传感器20安装在10摄像镜头10后方的安装基座上，不同的是，本实施例中摄像镜头10的主平面(与主轴垂直的平面)相对于相机主轴、相对于传感器20的主平面发生了偏转。
图2中的A图为摄像镜头左偏转的使用情况，其中，摄像镜头10主轴相对于传感器20所在平面的法线方向(也即摄像系统的主轴方向)向左偏转，偏转角度为a°，换言之，摄像镜头10所在主平面与传感器所在平面成α°的夹角；图2中的B图为摄像镜头右偏转的使用情况，其中，摄像镜头10的主轴相对于传感器所在平面的法线方向向右偏转，偏转角度为α°。
图3示出了实施例1中(在图2A所示变体)的结构反向安装(摄像系统的镜头朝向车身后方)到车身侧部时的位置关系示意图。图4示出了该实施例摄像系统的简化放大结构示意图。如图所示，本实施例中，车载摄像系统安装于目标车辆的右侧部，图像传感器20所在平面S 1与摄像镜头10的主平面S 2之间具有预设夹角α，换言之，摄像机镜头10的法线方向N 1相对于图像传感器的法线方向N 2发生了偏转，摄像机主轴与图像传感器的法线方向N 2重合，从而摄像机镜头10的法线方向N 1与摄像机主轴之间具有预设夹角α，这样，图像传感器20所在平面S 1与摄像镜头10的主平面S 2的延长线相交于车身侧部的预设距离h处，交点(实际为交线)为图中M 1，本实施例中，图像传感器20正常安装在相机中，图像传感器20的法线方向与相机的主轴重合，图中均用N 2表示。预设夹角α的范围为0.1-10度之间，可以根据车辆型号、车载摄像系统镜头焦距以及车辆所需视场范围来确定该预设夹角和预设距离h。
图中，图像传感器20与摄像镜头10的中心分别用O 1和O 2表示。
优选地，预设距离h满足下述公式：
Figure PCTCN2022121534-appb-000003
其中，如图3所示，h 1表示摄像镜头10安装在车辆上时，摄像镜头10的中心相对于目标车辆车身侧部(车厢壁)的伸出距离，h 2表示图像传感器20所在平面S 1与摄像镜头10的主平面S 2之 间的交线M 1与摄像镜头10的中心之间的距离，f表示所述摄像镜头的焦距，即焦点F到摄像镜头中心的距离，α表示所述图像传感器所在平面与所述摄像镜头的主平面之间的预设夹角。
为了满足沙姆定律，调整摄像镜头10的聚焦位置，使摄像镜头10聚焦于所述目标车辆侧部后方，并且其焦点与目标车辆的车身侧部所在平面的水平距离为所述预设距离或接近所述预设距离h。
更优选地，摄像镜头10的物方焦点F与图像传感器所在平面同摄像镜头10的主平面的交线之间的纵向距离L满足下述公式：
Figure PCTCN2022121534-appb-000004
采用这种方式，由于摄像镜头10的聚焦位置位于与车身侧部平行、并且与车身侧部水平距离为h的平行线上，在摄像镜头10的主轴所在平面上，摄像镜头10的焦点F与摄像镜头所在平面S 2同图像传感器所在平面S 1的交线M 1之间的连线与车身侧部平行，根据沙姆定律，摄像镜头10的清晰焦平面平行于车身侧部(大体沿着图中L所在方向)，可以提供更清晰的车身后部图像。这里主要讨论的是摄像镜头10的水平方位问题，置于摄像镜头10的俯仰角度，本领域技术人员可以根据车身高度进行调节。
根据车型、摄像机安装高度、法规要求的视野范围、设计方案需要的图像采集范围，可以确定L和h的值，进而设置偏转角度和摄像镜头的焦距。直接在前壳中对图像传感器和摄像镜头的安装位置进行加工调整，使得摄像镜头和图像传感器安装到其安装工位后，即可形成所需要的偏转角度，进而避免摄像系统在使用过程中由于振动等原因导致拍摄质量下降，扩大能够清晰拍摄的视野范围。
在一种优选实现方式中，摄像镜头10或者图像传感器20的偏转角度在0.1度-15度之间，比如，0.3度、1度、3度、5度、7度、9度或者10度。
本实施例中，通过图3画出了右侧后视镜的设置方式，本领域技术人员应该理解，另一侧的后视镜可以采用与本侧轴对称的方式进行设置和调整。
本实施例中，以图像传感器20所在平面S 1与摄像镜头10的主平面S 2相较于车身侧部并且其交线大体沿着竖直方向为例进行的描述。即，这种情况下，图像传感器20与摄像镜头10的主平面仅在水平方向上偏移形成夹角。
本领域技术人员应该理解，一些大型车辆的后视镜需要向下有一定的倾角，此时，可以进一步设置图像传感器20与摄像镜头10使得二者之间在竖直方向存在一定夹角，使二者的交线向下偏移，即，二者的交线并非竖直方向，而是倾斜方向，此时要求：从摄像镜头的中心向图像传感器所在平面与摄像镜头的主平面的相交线做垂线，所述垂线与所述相交线的交点的高度低于所述摄像镜头中心的高度，与此同时，设置摄像镜头的物方焦点在目标车辆侧部的高度等于或低于垂线与相交线的交点的高度。
通过这种夹角和物方焦点的设定使得根据沙姆定律摄像镜头的清晰焦平面位于车身侧部预定距离处并与车身侧部大体平行但略微向下倾斜。
实施例2
本实施例中相机中传感器和摄像镜头的设置方式如图5所示。本实施例中采用传感器偏转的方案。
如图5所示，图中A图为传感器左偏转的使用情况，传感器法线方向相对于摄像镜头主轴方向向左偏转，偏转角度为β°；图5中的B图为传感器右偏转的使用情况，传感器法线方向相对于摄像镜头主轴方向向右偏转，偏转角度为β°。图5中的相机安装到车辆时，同样需要反向安装，即相机镜头朝向车身后方。
图6中画出了图5B中的相机——传感器右偏转的相机的简化放大示意图，该图中相机的角度与实施例1相同，均为安装到车辆右侧，向后拍摄的角度。
如图6所示，图像传感器所在平面S 1与摄像镜头的主平面S 2之间具有预设夹角β，换言之，图像传感器20的法线方向N 1相对于摄像机镜头10的法线方向N 2发生了偏转，摄像机镜头10正常安装在相机中(摄像机镜头10的法线方向与摄像机的主轴重合，图中N 2方向)，从而图像传感器20的法线方向N 1与摄像机主轴之间具有预设夹角β，这样，图像传感器所在平面S 1与摄像镜头的主平面S 2的延长线相交于车身侧部的预设距离h处，交点(实际为交线)为图中M 1。预设夹角β的范围为0.1-10度之间，可以根据车辆型号、车载摄像系统镜头焦距以及车辆所需视场范围来确定该夹角和预设距离h。
同样，偏转角度的设置基于目标拍摄平面确定，偏转角度的设置可以使得图像传感器所在平面、摄像镜头的主平面与目标拍摄区域的主平面相交于一条直线，或者近 似地相交于一条直线。需要说明的是并不是能够拍摄到的目标区域范围越大越好，而是可以根据车辆的需要满足所需的最大清晰视野范围。
本实施例中的摄像系统安装到车辆时，其安装方式与实施例1类似，只需满足沙姆定律使得摄像镜头的清晰焦平面大体位于车身侧部并与车身大体平行即可。
实施例3
本实施例中采用摄像镜头和传感器偏转与传感器平移相结合的设置方式，如图7所示。图7中的A图为摄像镜头左偏转(角度)+传感器右偏转(角度)+传感器左平移(位置)的使用情况，其中，摄像镜头的主轴相对于相机的主轴方向向左偏转，偏转角度为α°，传感器法线方向相对于相机主轴方向向右偏转，偏转角度为β°，并且传感器向左发生平移，采用这种偏转设置，可以进一步扩大传感器与镜头的相对偏转角度。
图7中的B图为摄像镜头右偏转+传感器左偏转+传感器右平移的使用情况，其中，摄像镜头的主轴相对于相机的主轴方向向右偏转，偏转角度为α°，传感器法线方向相对于相机主轴方向向左偏转，偏转角度为β°，并且传感器向右发生平移，平移距离为H。
图8为图7A所示摄像系统的简化放大示意图，其视角为安装到车辆上后的视角。该摄像系统中摄像镜头左偏转α°，图像传感器20右偏转β度，二者形成的夹角为α+β。如图所示，本实施例中，图像传感器20整体发生了平移，平移的垂直距离为H，图中，图像传感器20的中心O 1跟随发生了横向平移，偏移至O’ 1。
传感器的平移距离可以根据传感器和相机的偏转角度而引起的成像位置变化而变。优选地，传感器平移的方向与由于摄像镜头和传感器的角度偏转而导致的成像位置(相对于非偏转情况)变化方向一致，即，当由于摄像镜头和传感器的角度偏转而导致的成像位置向左移动时，设置传感器向左平移大体相同距离H；当由于摄像镜头和传感器的角度偏转而导致的成像位置向右移动时，设置传感器向右平移大体相同距离H。
本实施例以及后续实施例中，传感器的左右偏移仅仅是影响所接收的视场范围，因此，本领域技术人员只需要根据所需视场范围进行调节即可。其在摄像系统的设置方式与实施例1类似，这里不再累述。
除了以上设置方式之外，传感器和镜头之间的偏转和平移还可以采用其他不同的组合方式，比如，图9中的A图示出了摄像镜头向左偏转并且向左平移的情况，B图示出了摄像镜头向右偏转并且向右平移的情况；图10中的A图示出了传感器向左偏转并且向左平移的情况，B图示出了传感器向右偏转并且向右平移的情况。图9-图10中的两种结构变体也能够实现与实施例1-3中的摄像系统类似的摄影效果，提供目标摄像区域的拍摄清晰度。
虽然上面结合本申请的优选实施例对本申请的原理进行了详细的描述，本领域技术人员应该理解，上述实施例仅仅是对本申请的示意性实现方式的解释，并非对本申请包含范围的限定。实施例中的细节并不构成对本申请范围的限制，在不背离本申请的精神和范围的情况下，任何基于本申请技术方案的等效变换、简单替换等显而易见的改变，均落在本申请保护范围之内。

Claims (10)

  1. 一种车载摄像系统，用于安装到目标车辆，所述车载摄像系统包括图像采集单元和摄像镜头，其特征在于，所述车载摄像系统安装于所述目标车辆侧部，所述图像采集单元所在平面与所述摄像镜头的主平面之间具有预设夹角，以使得所述图像采集单元所在平面与所述摄像镜头的主平面相交于车身侧部的预设距离h处，并且所述摄像镜头聚焦于所述目标车辆侧部后方，其物方焦点F与所述目标车辆的车身侧部所在平面的水平距离等于所述预设距离或接近所述预设距离h。
  2. 根据权利要求1所述的车载摄像系统，其特征在于，所述预设距离h满足下述公式：
    Figure PCTCN2022121534-appb-100001
    其中，h 1表示所述摄像镜头安装在车辆上时，所述摄像镜头的中心相对于目标车辆车身侧部的伸出距离，h 2表示所述图像采集单元所在平面与所述摄像镜头的主平面之间的交线与所述摄像镜头的中心之间的距离，f表示所述摄像镜头的焦距。
  3. 根据权利要求2所述的车载摄像系统，其特征在于，所述摄像镜头的物方焦点F与所述图像采集单元所在平面同所述摄像镜头的主平面的交线之间的纵向距离L满足下述公式：
    Figure PCTCN2022121534-appb-100002
  4. 根据权利要求3所述的车载摄像系统，其特征在于，所述图像采集单元所在平面和/或所述摄像镜头的主平面相对于所述车载摄像系统的主轴发生向左或向右的角度偏转。
  5. 根据权利要求3所述的车载摄像系统，其特征在于，从所述摄像镜头的中心向所述图像采集单元所在平面与所述摄像镜头的主平面的相交线作垂线，所述垂线与所述相交线的交点的高度等于或低于所述摄像镜头中心的高度，所述摄像镜头的物方焦点在所述目标车辆侧部的高度等于或低于所述垂线与所述相交线的交点高度。
  6. 根据权利要求1所述的车载摄像系统，其特征在于，所述图像采集单元的中心和/或所述摄像镜头的轴心相对于所述车载摄像系统的中心在发生侧向平移，平移 距离基于所述图像采集单元所在平面和/或所述摄像镜头的主平面之间的夹角引起的像移而确定。
  7. 根据权利要求6所述的车载摄像系统，其特征在于，所述车载摄像系统还包括壳体，所述壳体内设置有用于安装所述摄像镜头的第一安装位和用于安装所述图像采集单元的第二安装位，所述第一安装位和所述第二安装位中的至少一个相对于车载摄像系统的主轴偏置设置，以使得所述摄像镜头和所述图像采集单元固定在相应位置后，发生预定角度的偏转和/或预定距离的平移。
  8. 根据权利要求1所述的车载摄像系统，其特征在于，所述预设夹角在0.1-10度之间。
  9. 根据权利要求1所述的车载摄像系统，其特征在于，所述预设夹角为1度、2度、3度、5度或者7度。
  10. 根据权利要求1所述的车载摄像系统，其特征在于，所述车载摄像系统包括多套由图像采集单元、摄像镜头和壳体组成的成像结构，分别安装在车辆两侧和/或车内。
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